Navigation::AUV::Navigation Namespace Reference

Detailed Description

Second Generation Navigation.

Classes
struct	Arguments
struct	Task

Enumerations

Enumeration Type Documentation

enum Navigation::AUV::Navigation::GpsAccuracyIndexes

GPS accuracy indexes.

Enumerator
GPS_BAD_IX
GPS_AVG_IX
GPS_GOOD_IX
GPS_PURE_IX

enum Navigation::AUV::Navigation::GpsAccuracyValues

GPS Horizontal Accuracy (HACC) threshold values.

Enumerator
GPS_BAD
GPS_AVG
GPS_GOOD

enum Navigation::AUV::Navigation::MeasureNoiseIndexes

Measure Noise parameters.

Enumerator
MN_U
MN_V
MN_PSI
MN_YAWRATE
MN_LBL

enum Navigation::AUV::Navigation::OutputIndexes

Navigation Output states.

Enumerator
OUT_U	DVL Forward Speed (m/s).
OUT_V	DVL Transversal Speed (m/s).
OUT_PSI	Heading Angle (rad).
OUT_R	Heading Rate (rad/s).
OUT_GPS_X	GPS x (m).
OUT_GPS_Y	GPS y (m).
NUM_OUT	Number of Outputs (without LBL).

enum Navigation::AUV::Navigation::ProcessNoiseIndexes

Process Noise parameters.

Enumerator
PN_POSITION
PN_PSI
PN_YAWRATE
PN_SPEED
PN_YRATE_BIAS
PN_PSI_BIAS

enum Navigation::AUV::Navigation::StateCovarianceIndexes

State Covariance parameters.

Enumerator
SC_POSITION
SC_ANGLES
SC_SPEED
SC_BIASES
SC_RPM

enum Navigation::AUV::Navigation::StateIndexes

Navigation states.

Enumerator
STATE_X	Vehicle north (m).
STATE_Y	Vehicle east (m).
STATE_PSI	Heading Angle (rad).
STATE_R	Heading Rate (rad/s)
STATE_U	Ground Velocity x (m/s).
STATE_V	Ground Velocity y (m/s).
STATE_R_BIAS	Heading Rate Bias (rad/s).
STATE_PSI_BIAS	Heading Angle Bias (rad).
STATE_K	Revolutions to speed factor.
NUM_STATE	Number of States.